version: 66.03
glider: 119
mission: 5
dive: 175
start: 11 1 108 10 22 33
data:
$ID,119
$MISSION,5
$DIVE,175
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1090
$D_NO_BLEED,200
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,600
$T_MISSION,660
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,120
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,51528
$NAV_MODE,1
$FERRY_MAX,30
$KALMAN_USE,1
$HD_A,0.0038945
$HD_B,0.0099684997
$HD_C,2.576e-06
$HEADING,-1
$ESCAPE_HEADING,90
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,48.130001
$TGT_DEFAULT_LON,-122.366
$TGT_AUTO_DEFAULT,0
$SM_CC,350
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-213093.41
$T_RSLEEP,27
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,863
$PITCH_MAX,3325
$C_PITCH,2800
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,22
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,125
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1
$ROLL_MIN,200
$ROLL_MAX,3772
$ROLL_DEG,40
$C_ROLL_DIVE,2200
$C_ROLL_CLIMB,2200
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,10
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,403
$VBD_MAX,3857
$C_VBD,2837
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,6
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,1
$AH0_24V,147
$AH0_10V,122.2
$PRESSURE_YINT,-2.9385166
$PRESSURE_SLOPE,0.0001159777
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,125
$ALTIM_PING_DELTA,25
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,35
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0044304794
$SEABIRD_T_H,0.00064686994
$SEABIRD_T_I,2.8000688e-05
$SEABIRD_T_J,3.1833417e-06
$SEABIRD_C_G,-9.8991232
$SEABIRD_C_H,1.099651
$SEABIRD_C_I,-0.0012204468
$SEABIRD_C_J,0.00018128238
$GPS1,101608,4721.688,-12702.529,36,1.9,36,18.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-62.7
$GPS2,102139,4721.702,-12702.521,13,1.0,13,18.7
$SPEED_LIMITS,0.095,0.195
$TGT_NAME,SW_47N_128W
$TGT_LATLONG,4700.000,-12800.000
$TGT_RADIUS,1852.000
$KALMAN_CONTROL,-0.149,-0.125
$KALMAN_X,-18609.6,385.7,-438.0,-138656.9,-822.3
$KALMAN_Y,164700.9,-389.7,567.7,-121980.0,1077.8
$MHEAD_RNG_PITCHd_Wd,211.3,82982,-11.5,-5.500
$D_GRID,990
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-0.67,-117.3,0.0,0.0,0,93,0.00,0.00,-71.47,0.000,2,0.000,0.000,862,2225,3018
$GC,96,-0.67,-117.3,4.2,-5.9,7,119,12.32,2.47,-5.90,0.000,4,0.146,0.075,2647,796,3317
$GC,261,-0.40,-117.3,35.1,-12.4,21,268,0.32,2.20,0.00,0.000,6,0.079,0.043,2710,2183,3317
$GC,600,-0.44,-117.3,58.1,-5.8,77,606,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,2183,3317
$GC,949,-0.69,-117.3,81.7,-6.3,137,954,0.30,2.35,0.00,0.000,4,0.041,0.063,2641,3606,3317
$GC,1033,-0.49,-117.3,89.2,-9.6,144,1038,0.30,1.95,0.00,0.000,6,0.077,0.039,2692,2355,3317
$GC,1358,-0.53,-117.3,110.7,-5.7,174,1362,0.00,2.58,0.00,0.000,4,0.000,0.063,2692,789,3317
$GC,1379,-0.61,-117.3,111.8,-5.0,175,1386,0.12,2.47,0.00,0.000,6,0.058,0.044,2663,2379,3318
$GC,1704,-0.56,-117.3,134.7,-8.2,206,1706,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2380,3317
$GC,2030,-0.56,-117.3,156.7,-6.1,232,2034,0.00,2.58,0.00,0.000,4,0.000,0.061,2663,789,3317
$GC,2123,-0.56,-117.3,162.5,-6.5,236,2128,0.00,2.47,0.00,0.000,6,0.000,0.046,2663,2367,3317
$GC,2447,-0.56,-117.3,181.3,-5.9,252,2451,0.00,2.55,0.00,0.000,4,0.000,0.061,2662,793,3317
$GC,2513,-0.56,-117.3,185.6,-6.4,255,2517,0.00,2.40,0.00,0.000,6,0.000,0.046,2662,2326,3317
$GC,2840,-0.56,-117.3,204.1,-5.8,271,2844,0.00,2.50,0.00,0.000,4,0.000,0.063,2662,785,3317
$GC,2884,-0.56,-117.3,206.8,-6.3,273,2889,0.00,2.38,0.00,0.000,6,0.000,0.045,2663,2301,3317
$GC,3213,-0.56,-117.3,226.1,-6.1,289,3218,0.00,2.47,0.00,0.000,4,0.000,0.064,2662,786,3317
$GC,3253,-0.56,-117.3,228.7,-6.7,291,3257,0.00,2.35,0.00,0.000,6,0.000,0.045,2662,2287,3317
$GC,3579,-0.56,-117.3,248.1,-6.1,307,3581,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,2287,3317
$GC,3888,-0.56,-117.3,266.0,-5.6,322,3892,0.00,2.45,0.00,0.000,4,0.000,0.066,2662,794,3317
$GC,3927,-0.56,-117.3,268.4,-6.6,324,3931,0.00,2.30,0.00,0.000,6,0.000,0.045,2662,2266,3317
$GC,4254,-0.56,-117.3,288.2,-6.1,340,4258,0.00,2.42,0.00,0.000,4,0.000,0.067,2662,792,3317
$GC,4286,-0.56,-117.3,290.3,-6.7,341,4293,0.00,2.30,0.00,0.000,6,0.000,0.045,2662,2243,3317
$GC,4600,-0.56,-117.3,307.3,-5.2,353,4604,0.00,2.38,0.00,0.000,4,0.000,0.067,2662,798,3317
$GC,4626,-0.56,-117.3,308.8,-5.5,353,4630,0.00,2.25,0.00,0.000,6,0.000,0.045,2662,2218,3317
$GC,4965,-0.56,-117.3,325.5,-4.9,359,4966,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2218,3317
$GC,5267,-0.56,-117.3,341.3,-5.2,364,5271,0.00,2.35,0.00,0.000,4,0.000,0.069,2662,799,3317
$GC,5294,-0.56,-117.3,342.9,-5.4,364,5298,0.00,2.25,0.00,0.000,6,0.000,0.046,2662,2235,3316
$GC,5625,-0.56,-117.3,361.7,-5.7,370,5626,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2235,3316
$GC,5928,-0.56,-117.3,379.7,-5.9,375,5929,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2235,3316
$GC,6231,-0.56,-117.3,398.2,-6.2,380,6235,0.00,2.40,0.00,0.000,4,0.000,0.073,2662,800,3315
$GC,6269,-0.61,-117.3,400.7,-6.5,380,6273,0.00,2.22,0.00,0.000,6,0.000,0.048,2662,2210,3315
$GC,6588,-0.61,-117.3,419.6,-6.0,386,6590,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2210,3315
$GC,6892,-0.61,-117.3,435.4,-5.1,391,6896,0.00,2.38,0.00,0.000,4,0.000,0.075,2662,796,3314
$GC,6924,-0.66,-117.3,437.1,-5.7,391,6928,0.00,2.22,0.00,0.000,6,0.000,0.051,2662,2200,3314
$GC,7258,-0.66,-117.3,452.7,-4.7,397,7259,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,2200,3314
$GC,7559,-0.70,-117.3,470.2,-5.9,402,7563,0.00,2.38,0.00,0.000,4,0.000,0.077,2662,797,3314
$GC,7586,-0.75,-117.3,472.0,-6.6,402,7590,0.15,2.20,0.00,0.000,6,0.057,0.051,2630,2181,3314
$GC,7923,-0.65,-117.3,497.4,-7.6,408,7925,0.15,0.00,0.00,0.000,6,0.088,0.000,2656,2181,3313
$GC,8225,-0.65,-117.3,516.4,-6.2,413,8226,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2181,3313
$GC,8530,-0.65,-117.3,533.8,-5.7,418,8531,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2182,3312
$GC,8832,-0.65,-117.3,549.1,-5.0,423,8833,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2181,3312
$GC,9135,-0.65,-117.3,564.2,-4.9,428,9136,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2181,3312
$GC,9438,-0.65,-117.3,578.0,-4.5,433,9442,0.00,2.38,0.00,0.000,4,0.000,0.085,2656,802,3311
$GC,9465,-0.65,-117.3,579.4,-5.2,433,9469,0.00,2.20,0.00,0.000,6,0.000,0.056,2655,2172,3311
$GC,9797,-0.65,-117.3,594.2,-4.4,439,9798,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2172,3311
$GC,10100,-0.65,-117.3,608.5,-4.7,444,10101,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2173,3310
$GC,10403,-0.65,-117.3,623.8,-5.1,449,10404,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2173,3310
$GC,10706,-0.65,-117.3,638.7,-4.9,454,10710,0.00,2.35,0.00,0.000,4,0.000,0.084,2655,802,3310
$GC,10733,-0.69,-117.3,640.1,-5.5,454,10737,0.00,2.17,0.00,0.000,6,0.000,0.057,2656,2159,3310
$GC,11072,-0.69,-117.3,656.7,-4.9,460,11073,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2159,3310
$GC,11373,-0.69,-117.3,671.8,-5.0,465,11375,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2159,3309
$GC,11676,-0.69,-117.3,686.5,-4.9,470,11678,0.00,0.00,0.00,0.000,6,0.000,0.000,2656,2159,3309
$GC,11981,-0.69,-117.3,701.2,-4.9,475,11982,0.00,0.00,0.00,0.000,6,0.000,0.000,2655,2159,3309
$GC,12283,-0.73,-117.3,714.6,-4.4,480,12287,0.00,2.35,0.00,0.000,4,0.000,0.087,2656,800,3309
$GC,12310,-0.78,-117.3,715.8,-4.1,480,12315,0.15,2.20,0.00,0.000,6,0.057,0.058,2624,2160,3309
$GC,12641,-0.68,-117.3,734.6,-5.8,486,12643,0.15,0.00,0.00,0.000,6,0.088,0.000,2649,2161,3308
$GC,12944,-0.68,-117.3,749.3,-4.9,491,12945,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2161,3308
$GC,13247,-0.68,-117.3,764.8,-5.1,496,13248,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2161,3308
$GC,13550,-0.68,-117.3,781.5,-5.6,501,13554,0.00,2.53,0.00,0.000,4,0.000,0.092,2649,3597,3307
$GC,13571,-0.68,-117.3,783.0,-7.2,501,13575,0.00,2.33,0.00,0.000,6,0.000,0.051,2649,2155,3307
$GC,13914,-0.68,-117.3,803.3,-6.0,507,13915,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2155,3307
$GC,14216,-0.68,-117.3,820.6,-5.7,512,14221,0.00,2.42,0.00,0.000,4,0.000,0.096,2649,793,3307
$GC,14243,-0.68,-117.3,822.1,-6.5,512,14247,0.00,2.25,0.00,0.000,6,0.000,0.061,2649,2155,3307
$GC,14581,-0.68,-117.3,838.7,-4.8,518,14582,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2156,3307
$GC,14885,-0.68,-117.3,851.9,-4.3,523,14886,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2156,3307
$GC,15187,-0.68,-117.3,863.8,-3.9,528,15188,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2156,3306
$GC,15491,-0.68,-117.3,876.4,-4.2,533,15492,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2156,3306
$GC,15793,-0.68,-117.3,889.9,-4.5,538,15797,0.00,2.40,0.00,0.000,4,0.000,0.097,2649,804,3306
$GC,15821,-0.68,-117.3,891.3,-5.3,538,15824,0.00,2.20,0.00,0.000,6,0.000,0.064,2649,2138,3306
$GC,16164,-0.68,-117.3,908.3,-5.0,544,16165,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2138,3306
$GC,16467,-0.68,-117.3,923.2,-4.9,549,16468,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2138,3306
$GC,16770,-0.68,-117.3,937.7,-4.7,554,16771,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2138,3305
$GC,17075,-0.68,-117.3,952.5,-5.0,559,17076,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2138,3305
$GC,17376,-0.68,-117.3,968.9,-5.5,564,17377,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,2138,3305
$GC,17679,-0.72,-117.3,986.0,-5.6,569,17680,0.00,0.00,0.00,0.000,6,0.000,0.000,2649,2138,3305
$STATE,17798,end dive,TARGET_DEPTH_EXCEEDED
$STATE,17798,begin apogee
$GC,17803,-0.23,0.0,992.4,5.4,571,17920,0.57,0.00,104.65,1.470,6,0.071,0.000,2748,2200,2837
$STATE,17920,end apogee,CONTROL_FINISHED_OK
$STATE,17921,begin climb
$GC,17923,0.67,117.3,996.3,0.0,573,18041,1.15,0.00,112.22,1.445,6,0.045,0.000,2945,2200,2358
$GC,18343,0.45,117.3,968.8,8.4,580,18345,0.28,0.00,0.00,0.000,6,0.091,0.000,2902,2200,2358
$GC,18646,0.39,117.3,948.9,6.5,585,18647,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,2200,2358
$GC,18949,0.33,117.3,930.8,5.9,590,18951,0.17,0.00,0.00,0.000,6,0.093,0.000,2873,2200,2358
$GC,19253,0.43,148.5,917.0,4.5,595,19287,0.00,2.58,29.48,1.418,4,0.000,0.106,2872,800,2231
$GC,19338,0.48,151.3,912.8,5.4,596,19348,0.17,2.35,4.45,0.959,6,0.054,0.065,2908,2205,2220
$GC,19685,0.48,151.3,889.9,6.8,602,19690,0.00,2.53,0.00,0.000,4,0.000,0.104,2908,794,2220
$GC,19724,0.40,151.3,887.0,6.4,602,19728,0.00,2.25,0.00,0.000,6,0.000,0.065,2908,2160,2220
$GC,20044,0.40,151.3,862.7,7.6,608,20045,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,2160,2220
$GC,20347,0.40,151.3,839.5,7.7,613,20351,0.00,2.42,0.00,0.000,4,0.000,0.102,2908,793,2220
$GC,20380,0.34,151.3,836.9,7.0,613,20385,0.20,2.22,0.00,0.000,6,0.090,0.064,2876,2151,2220
$GC,20707,0.42,151.3,817.3,5.9,619,20711,0.00,2.38,0.00,0.000,4,0.000,0.096,2875,794,2220
$GC,20739,0.48,151.3,815.1,5.8,619,20744,0.15,2.17,0.00,0.000,6,0.060,0.062,2906,2128,2220
$GC,21070,0.48,151.3,792.8,6.7,625,21072,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2129,2220
$GC,21373,0.48,151.3,773.3,6.4,630,21374,0.00,0.00,0.00,0.000,6,0.000,0.000,2907,2129,2220
$GC,21676,0.48,151.3,753.7,6.4,635,21680,0.00,2.30,0.00,0.000,4,0.000,0.094,2907,802,2220
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$GC,22041,0.42,151.3,730.3,6.4,641,22045,0.00,2.58,0.00,0.000,4,0.000,0.085,2906,3609,2220
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